US6956558B1 - Rotary force feedback wheels for remote control devices - Google Patents
Rotary force feedback wheels for remote control devices Download PDFInfo
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- US6956558B1 US6956558B1 US09/678,110 US67811000A US6956558B1 US 6956558 B1 US6956558 B1 US 6956558B1 US 67811000 A US67811000 A US 67811000A US 6956558 B1 US6956558 B1 US 6956558B1
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- rotatable member
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- haptic force
- force sensation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/0354—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of 2D relative movements between the device, or an operating part thereof, and a plane or surface, e.g. 2D mice, trackballs, pens or pucks
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
- G06F2203/01—Indexing scheme relating to G06F3/01
- G06F2203/014—Force feedback applied to GUI
Definitions
- the present invention relates generally to interface devices for allowing humans to interface with computer systems, and more particularly to mechanical computer interface devices that allow the user to provide input to computer systems and provide force feedback to the user.
- Mouse 32 is an object that is preferably grasped or gripped and manipulated by a user.
- mouse 32 is shaped so that a user's fingers or hand may comfortably grasp the object and move it in the provided degrees of freedom in physical space.
- One or more buttons 15 allow the user to provide additional commands to the computer system.
- a thumb button (not shown) can also be provided on mouse 32 .
- One or more of the buttons 15 may command specific force feedback features of the system 30 , as described below.
- Mouse 32 is preferably supported upon a grounded pad 42 , which is supported by grounded surface 44 .
- the interface 34 can be coupled to the computer 18 by a bus 37 , which communicates signals between interface 34 and computer 18 and also, in the preferred embodiment, provides power to the interface 34 (e.g. when bus 17 includes a USB interface). In other embodiments, signals can be sent between interface 34 and computer 18 by wireless transmission/reception.
- the interface 34 can also receive inputs from other input devices or controls that are associated with mouse system 30 and can relay those inputs to computer 18 , such as buttons 15 .
- Host computer 18 is described above with reference to FIG. 1 .
- the host application program checks for input signals received from the mouse 32 , and outputs force values and/or commands to be converted into forces on mouse 32 and on wheel 16 .
- Suitable software drivers which interface force feedback application software with computer input/output (I/O) devices are available from Immersion Human Interface Corporation of San Jose, Calif.
- Actuators 106 transmit forces to mouse 32 in one or more directions along one or more degrees of freedom in response to signals output by microprocessor 90 and/or host computer 18 , i.e., they are “computer controlled.”
- the actuators 106 produce “computer-modulated” forces which means that microprocessor 90 , host computer 18 , or other electronic device controls the application of the forces.
- an actuator 106 is provided for each degree of freedom along which forces are desired to be transmitted.
- Actuators 106 can include active actuators, such as linear current control motors, stepper motors, pneumatic/hydraulic active actuators, a torquer (motor with limited angular range), voice coil actuators, etc.
- Passive actuators can also be used, including magnetic particle brakes, friction brakes, or pneumatic/hydraulic passive actuators, and generate a damping resistance or friction in a degree of motion.
- sensors 104 and actuators 106 can be included together as a sensor/actuator pair transducer.
- a jolt differs from a detent in that a jolt is time-based rather than spatially based; the jolt is output irrespective of the position of the wheel 16 , and does not attract or repel the wheel from a particular rotational position.
Abstract
A force feedback wheel is provided on a mouse or other interface device manipulated by a user. A sensor detects a position of the mouse in a workspace and sends a position signal to a connected host computer indicating that position. A rotatable wheel is mounted upon the manipulandum and rotates about a wheel axis, where a wheel sensor provides a wheel signal to the host computer indicating a rotary position of the wheel. A wheel actuator coupled to the rotatable wheel applies a computer-modulated force to the wheel about the wheel axis. The mouse can be a standard mouse or a force-feedback mouse, where forces are applied in the mouse workspace. The host computer is preferably running a graphical environment, where the force applied to the wheel can correspond with an event or interaction displayed in the graphical environment. The wheel can also be included on other devices such as remote controls and radios.
Description
This application is a continuation of application Ser. No. 09/049,155 filed Mar. 26, 1998 now U.S. Pat. No. 6,128,006.
The present invention relates generally to interface devices for allowing humans to interface with computer systems, and more particularly to mechanical computer interface devices that allow the user to provide input to computer systems and provide force feedback to the user.
Computer systems are used extensively in many different industries to implement many applications. Users can interact with a visual environment displayed by a computer on a display device to perform functions on the computer, play a game, experience a simulation or “virtual reality” environment, use a computer aided design (CAD) system, browse the World Wide Web, or otherwise influence events or images depicted on the screen. One visual environment that is particularly common is a graphical user interface (GUI). GUI's present visual images which describe various graphical metaphors of a program or operating system implemented on the computer. Common GUI's include the Windows® operating system from Microsoft Corporation, the MacOS® operating system from Apple Computer, Inc., and the X-Windows GUI for Unix operating systems. The user typically moves a user-controlled graphical object, such as a cursor or pointer, across a computer screen and onto other displayed graphical objects or screen regions, and then inputs a command to execute a given selection or operation. Other programs or environments also may provide user-controlled graphical objects such as a cursor and include browsers and other programs displaying graphical “web pages” or other environments offered on the World Wide Web of the Internet, CAD programs, video games, virtual reality simulations, etc. In some graphical computer environments, the user may provide input to control a 3-D “view” of the graphical environment, as in CAD or 3-D virtual reality applications.
The user interaction with and manipulation of the computer environment is achieved using any of a variety of types of human-computer interface devices that are connected to the computer system controlling the displayed environment. A common interface device for GUI's is a mouse or trackball. A mouse is moved by a user in a planar workspace to move a graphical object such as a cursor on the 2-dimensional display screen in a direct mapping between the position of the user manipulandum and the position of the cursor. This is typically known as “position control”, where the motion of the graphical object directly correlates to motion of the user manipulandum. One drawback to traditional mice is that functions such as scrolling a document in a window and zooming a view displayed on the screen in or out are typically awkward to perform, since the user must use the cursor to drag a displayed scroll bar or click on displayed zoom controls. These types of functions are often more easily performed by “rate control” devices, i.e. devices that have an indirect or abstract mapping of the user manipulandum to the graphical object, such as pressure-sensitive devices. Scrolling text in a window or zooming to a larger view in a window are better performed as rate control tasks, since the scrolling and zooming are not directly related to the planar position of a mouse. Similarly, the controlled velocity of a simulated vehicle is suitable for a rate control paradigm.
To allow the user easier control of scrolling, zooming, and other like functions when using a mouse, a “scroll wheel” or “mouse wheel” has been developed and has become quite common on computer mice. A mouse wheel is a small finger wheel provided on a convenient place on the mouse, such as between two mouse buttons, which the user may rotate to control a scrolling or zooming function. Most commonly, a portion of the wheel protrudes out of the top surface of the mouse which the user can move his or her finger over. The wheel typically includes a rubber or other frictional surface to allow a user's finger to easily rotate the wheel. In addition, some mice provide a “clicking” wheel that moves between evenly-spaced physical detent positions and provides discrete positions to which the wheel can be moved as well as providing the user with some physical feedback as to how far the wheel has rotated. The wheel is most commonly used to scroll a document in a text window without having to use a scroll bar, or to zoom a window's display in or out without selecting a separate zoom control. The wheel may also be used in other applications, such as a game, drawing program, or simulation.
One problem with existing mouse wheels is that they are quite limited in functionality. The wheel has a single frictional feel to it, and provides the user with very little tactile feedback as to the characteristics of the scrolling or zooming function employed. Even the mouse wheels having physical detents are limited in that the detents are spaced a constant distance apart and have a fixed tactile response, regardless of the scrolling or zooming task being performed or the characteristics of the doucment or view being manipulated. Providing additional physical information concerning the characteristics of the task that the wheel is performing, as well as allowing the wheel to perform a variety of other tasks in a GUI or other environment, would be quite useful to a user.
The present invention is directed to an interface device which is connected to a host computer and provides a rotatable wheel having force feedback. The force feedback wheel provides greater functionality and relays greater tactile information to the user concerning the control task being performed with the wheel than a standard non-force-feedback wheel.
More particularly, an interface device and method for interfacing a user's input with a host computer and providing force feedback to the user includes a user manipulandum contacted and manipulated by a user and moveable in a planar workspace with respect to a ground surface. A manipulandum sensor detects a position of the user manipulandum in the planar workspace and sends a position signal to the host computer indicating a position of the user manipulandum in the workspace. A rotatable wheel is mounted upon the user manipulandum and rotates about a wheel axis, where a wheel sensor provides a wheel signal to the host computer indicating a rotary position of the wheel. A wheel actuator coupled to the rotatable wheel applies a computer-modulated force to the wheel about the wheel axis.
The user manipulandum can include a mouse object or other type of object. In a standard mouse implementation, the manipulandum sensor includes a ball and roller assembly. In a force feedback mouse implementation, one or more additional actuators are included for applying a force to the manipulandum in the workspace. A mechanical linkage having multiple members can be coupled between the manipulandum actuators and the manipulandum. The wheel can be oriented in a variety of ways; for example, the wheel can rotate about an axis parallel to the planar workspace. The wheel actuator can be directly coupled to the wheel, or can be coupled to the wheel by a drive mechanism such as a belt drive. In some embodiments, the wheel can be depressed into a housing of the manipulandum. A local micrprocessor can also be provided in the interface device to control the actuator to apply the force on the wheel.
The host computer is preferably running a graphical environment, where the force applied to the wheel corresponds with an event or interaction displayed in the graphical environment. The event can be the scrolling of a displayed document as controlled by the sensed rotation of the wheel, or a zooming or panning of a view in the graphical environment. In one embodiment, the cursor's motion is influenced by the rotation of the wheel, such that the event can be an interaction of a cursor with a graphical object. The force can also be, for example, a damping force sensation, an inertial force sensation, a friction force sensation, a force detent sensation, an obstruction force sensation, a texture sensation, a jolt sensation, or a vibration sensation. Different modes, such as isotonic and isometric modes, can also be provided, where force sensations appropriate to each mode are applied to the wheel.
In a different embodiment, a force feedback wheel device of the present invention provides input to an electronic device. The wheel device includes a wheel rotatably coupled to a housing and rotatable about an axis, a computer-modulated actuator coupled to the wheel for generating a simulated detent sensation on the wheel, where the force detent is provided at a predetermined user-preferred rotational position of the wheel, and a sensor that senses rotation of the wheel and provides a wheel signal to the electronic device indicating a rotary position of the wheel. The wheel can be included on a remote control device for remotely sending signals to the electronic device, or on the housing of the electronic device itself. The electronic device can be any of a variety of devices or appliances; for example, a radio can include the force wheel for providing user-preferred detents at radio station frequencies spaced irregularly about the rotational range of the wheel.
The apparatus and method of the present invention provides an interface device including a force feedback wheel that allows a user to conveniently provide input to manipulate functions or events in a host computer application program or electronic device. The force feedback wheel allows substantially greater control and flexibility than previous mouse wheels or other knobs, and the force feedback allows the wheel to control a variety of useful functions in a graphical environment which prior wheels are not able to control.
These and other advantages of the present invention will become apparent to those skilled in the art upon a reading of the following specification of the invention and a study of the several figures of the drawing.
Furthermore, in some embodiments, wheel 16 may be depressed by the user as indicated by arrow 19. The wheel, when pressed, causes contacts to be electrically connected and provides a signal to host computer 18. Wheel 16 thus can also operate as an additional mouse button 15. A mechanical/electrical interface (not shown) is preferably included to sense manipulations of the wheel 16 and transmit force to the wheel. In the preferred embodiment, power is provided to actuators over bus 17 (e.g. when bus 17 includes a USB interface). The structure and operation of wheel 16 and the interface is described in greater detail with respect to FIGS. 5-9 .
There are two primary “control paradigms” of operation for mouse 12: position control and rate control. Position control is the more typical control paradigm for mouse and similar controllers, and refers to a mapping of mouse 32 in which displacement of the mouse in physical space directly dictates displacement of a graphical object. Under a position control mapping, the computer object does not move unless the user manipulandum is in motion. Also, “ballistics” or other non-linear adjustments to cursor position can be used, in which, for example, small motions of the mouse have a different scaling factor for cursor movement than large motions of the mouse, to allow more control of small cursor movement. As shown in FIG. 1 , the host computer may have its own “host frame” 28 which is displayed on the display screen 20. In contrast, the mouse 12 has its own “local frame” 30 in which the mouse 12 is moved. In a position control paradigm, the position (or change in position) of a user-controlled graphical object, such as a cursor, in host frame 30 corresponds to a position (or change in position) of the mouse 12 in the local frame 28.
Rate control is also used as a control paradigm. This refers to a mapping in which the displacement of a user manipulandum along one or more provided degrees of freedom is abstractly mapped to motion or rate of a computer-simulated object under control. There is not a direct physical mapping between physical object (mouse) motion and computer object motion.
The mouse 12 is useful for both position control (“isotonic”) tasks and rate control (“isometric”) tasks. For example, as a traditional mouse, the position of mouse 12 in its local frame 30 workspace can be directly mapped to a position of a cursor in host frame 28 on display screen 20 in a position control paradigm. Also, the mouse wheel 16 can be rotated in its degree of freedom against an opposing output force to command rate control tasks in an isometric mode. Wheel 16 can also be used for position control tasks, as described in greater detail below.
It will be appreciated that a great number of other types of user manipulandums (“user manipulatable objects” or “physical objects”) can be used with the method and apparatus of the present invention in place of or in addition to mouse 32. For example, such objects may include a sphere, a puck, a joystick, cubical- or other-shaped hand grips, a receptacle for receiving a finger or a stylus, a flat planar surface like a plastic card having a rubberized, contoured, and/or bumpy surface, or other objects. Other examples of a user object 32 are described below with reference to FIGS. 3 a and 3 b.
Mouse 32 (or other manipulandum) is also provided with a mouse wheel 16 as described with reference to FIG. 1. Mouse wheel 16 is provided with force feedback separately from the mouse 32, e.g. an actuator separate from actuators that drive mouse 32 can be used to provide forces on wheel 16. The functions controlled by wheel 16 can be independent of the functions controlled by the planar movement of mouse 32 in its workspace. Alternatively, the functions controlled by wheel 16 can be synchronized or added to functions controlled by planar mouse movement, as described in greater detail below. Wheels 16 in different orientations, or multiple wheels or a trackball, can be provided on mouse 32 as described with reference to mouse 12.
In a preferred embodiment, the user manipulates mouse 32 in a planar workspace, and the position of mouse 32 is translated into a form suitable for interpretation by position sensors of the interface 34. The sensors track the movement of the mouse 32 in planar space and provide suitable electronic signals to an electronic portion of interface 34. The interface 34 provides position information to host computer 18. An electronic portion of interface 34 may be included within the housing 33 to provide electronic signals to host computer 18, as described below with reference to FIG. 4. In addition, host computer 18 and/or interface 34 provide force feedback signals to actuators coupled to interface 34, and actuators generate forces on members of the mechanical portion of the interface 34 to provide forces on mouse 32 in provided or desired degrees of freedom and on wheel 16 in its rotary degree of freedom. The user experiences the forces generated on the mouse 32 as realistic simulations of force sensations such as jolts, springs, textures, “barrier” forces, and the like.
The interface 34 can be coupled to the computer 18 by a bus 37, which communicates signals between interface 34 and computer 18 and also, in the preferred embodiment, provides power to the interface 34 (e.g. when bus 17 includes a USB interface). In other embodiments, signals can be sent between interface 34 and computer 18 by wireless transmission/reception. The interface 34 can also receive inputs from other input devices or controls that are associated with mouse system 30 and can relay those inputs to computer 18, such as buttons 15.
The mouse system 10 can also include an indexing function or “indexing mode” which allows the user to redefine the offset between the positions of the mouse 32 in the local frame 30 and a user-controlled graphical object, such as a cursor, in the host frame 28. Such a mode is described in greater detail in co-pending application Ser. No. 08/924,462. A hand weight safety witch can also be provided as described in greater detail in parent patent applications Ser. Nos. 8/756,745 and 08/881,691. Other features of the present invention are also provided using force feedback functionality. For example, a thumb button (not shown) or other button 15 can toggle a force functionality mode in which designated graphical objects or regions displayed on screen 20 have other functions enabled by force feedback to wheel 16. This is described in greater detail with respect to FIG. 9.
Another type of force sensation that can be output on knob 54 is a spring force. The spring force can provide resistance to rotational movement of the knob in either direction to simulate a physical spring on the knob. This can be used, for example, to “snap back” the knob to its rest or center position after the user lets go of the knob, e.g. once the knob is rotated past a particular position, a function is selected, and the user releases the knob to let the knob move back to its original position. An isometric rate-control mode for use with such a spring force is described below. A damping force sensation can also be provided on knob 54 to slow down the rotation of the knob, allowing more accurate control by the user. Furthermore, any of these force sensations can be combined together for a single knob 54 to provide multiple simultaneous force effects. Other forces usable with knob 54 are described in greater detail below with respect to FIG. 9.
The electronic portion of interface device 31 includes a local microprocessor 90, local clock 92, local memory 94, sensor interface 96, and actuator interface 98. Additional electronic components may also be included for communicating via standard protocols on bus 120. These components can be included in device 31 or host computer 18 if desired.
For example, in one host-controlled embodiment that utilizes microprocessor 90, host computer 18 can provide low-level force commands over bus 120, which microprocessor 90 directly transmits to the actuators. In a different local control embodiment, host computer system 18 provides high level supervisory commands to microprocessor 90 over bus 120, and microprocessor 90 manages low level force control loops to sensors and actuators in accordance with the high level commands and independently of the host computer 18. In the local control embodiment, the microprocessor 90 can independently process sensor signals to determine appropriate output actuator signals by following the instructions of a “force process” that may be stored in local memory and includes calculation instructions, formulas, force magnitudes, and/or other data. The force process can command distinct force sensations, such as vibrations, textures, jolts, or even simulated interactions between displayed objects. The host can send the local processor a spatial layout of objects in the graphical environment so that the microprocessor has a mapping of locations of graphical objects like enclosures and can determine interactions with the cursor locally. Such operation of local microprocessor in force feedback applications is described in greater detail in co-pending patent application Ser. Nos. 08/566,282, 08/571,606, 08/756,745, and 08/924,462, all of which are incorporated by reference herein. In an alternate embodiment, no local microprocessor 90 is included in interface device 31, and host computer 18 directly controls and processes all signals to and from the interface device 31.
A local clock 92 can be coupled to the microprocessor 90 to provide timing data, similar to system clock 78 of host computer 18 to, for example, compute forces to be output by actuators 106 and 112. In alternate embodiments using the USB communication interface, timing data for microprocessor 90 can be retrieved from the USB interface. Local memory 94, such as RAM and/or ROM, is preferably coupled to microprocessor 90 in interface device 31 to store instructions for microprocessor 90, temporary and other data, calibration parameters, adjustments to compensate for sensor variations can be included, and/or the state of the force feedback device.
In a preferred embodiment, power is supplied to the actuators 106 and 112 and any other components (as required) by the USB. Alternatively, power from the USB can be stored and regulated by device 31 and thus used when needed to drive actuators 106 and 112. Or, a power supply can optionally be coupled to actuator interface 98 and/or actuators 106 and 112 to provide electrical power.
A mechanical portion 100 is included in device 31 for the force feedback functionality of mouse 12. A suitable mechanical portion 100 is described in detail in co-pending application Ser. No. 08/965,720. A separate mechanical portion 102 is preferably provided for the force feedback functionality of wheel 16, as described in detail below with reference to FIGS. 5-8 . In those embodiments not including force feedback in the planar mouse workspace (such as in FIG. 1), the mechanical portion 100 need not be included. Furthermore, the embodiment of FIG. 1 need not include a local microprocessor 90 or mechanical portion 100, where host computer 18 directly controls all forces on wheel 16.
Also, a drive mechanism such as a capstan drive mechanism can be used to provide mechanical advantage to the forces output by actuator 112. Some examples of capstan drive mechanisms are described in co-pending patent applications Ser. Nos. 08/961,790, 08/736,161, 08/374,288, all incorporated by reference herein. Alternatively, a belt drive system can be used as described below with reference to FIG. 8.
In the described embodiment, the sensor 110 can input signals to a single sensor interface 96 used also for sensors 104 as described above. Actuator 112 can similarly use the actuator interface 98 also used by actuators 106. Alternatively, sensor 110 and/or actuator 112 can be provided with their own dedicated interfaces separate from interfaces 96 and 98.
Furthermore, a safety switch 115 can be included for the wheel 16 to prevent forces from being output on the wheel when the user is not contacting or using it, and to prevent the wheel from spinning on its own when the user is not touching it. In one embodiment, the safety switch detects contact of a user's digit (finger, thumb, etc.) with the wheel. Such a switch can be implemented as a capacitive sensor or resistive sensor, the operation of which is well known to those skilled in the art. In a different embodiment, a switch or sensor that detects downward pressure on the wheel 16 can be used. For example, a switch can be sensitive to a predetermined amount of downward pressure, which will close the switch. A button switch for wheel 16 similar to that described below with reference to FIG. 8 , for example, can function as a safety switch. Or, a two-state switch can be used, where the first state is entered when a small amount of pressure is applied to wheel 16, functioning as the safety switch; and the second state is entered with a greater amount of pressure to activate a button switch and send a button signal. Alternatively, a pressure magnitude sensor can be used as the safety switch, where forces are output on the wheel only when a downward pressure magnitude over a minimum threshold is sensed. A pressure requirement for safety switch 115 has the advantage of ensuring good contact between finger and wheel before forces are output; output forces are enabled only when the user is moving or actively using the wheel. Thus, if the user simply rests his or her finger lightly on the wheel without intending to use it, no forces will be output to surprise the user.
The force feedback wheel 16 of the present invention can be used to control and/or enhance functions of the GUI 200. A normal mouse wheel can be used to scroll a document or view of the GUI, zoom a view, or pan a view by rotating the mouse wheel. In the present invention, several types of force sensations can be output on wheel 16 to enhance control or selection in the GUI of these types of rate-control functions. Any of the described force sensations can be combined on wheel 16 to provide multiple simultaneous force effects where appropriate.
One feature of the force feedback wheel is force detents. As described above with reference to FIG. 3 a, force detents are forces that attract the wheel to a particular rotational position and resist movement of the wheel away from that position, e.g. a “snap-to” detent. The detents can be programmable by an application developer or other designer/user to correspond with particular features of the GUI 200. For example, the host computer can send a high-level host command to the interface device 31 (e.g. microprocessor 90), where the host command has a command identifier and command parameters. The identifier (such as “WHEEL_DETENT”) identifies the command as a force detent command, while the parameters characterize the detent forces. For example, parameters such as “θ angle of detent” and “magnitude” can be used, so that a command WHEEL_DETENT (θ, magnitude) characterizes a detent. A command of WHEEL_DETENT (20, 10) would command a wheel detent at an angle of 20 degrees on the wheel from a reference position (when viewing wheel coincident with axis of rotation), at a force magnitude of 10% of maximum force output (magnitude can also be expressed in other terms). Additional angle parameters can define additional detents located at different angles around the wheel in a range of 360 degrees, irregularly or regularly spaced as desired. Alternatively, “N pulses per revolution” can be a parameter to command N regularly-spaced force detents per revoltion of the wheel. If a local microprocessor 90 is used, the microprocesor can implement the detents independently of control of the host based on the received host command.
For example, one standard GUI feature is a pull-down menu 206. Individual menu items 208 in the pull down menu 206 may be selected by the user using cursor 204. Once the pull-down menu has been displayed, the selection of a menu item 208 can be controlled by wheel 16 moving cursor 204 (and, optionally, vertical motion of mouse 12 or 32 can be disabled while the menu is displayed). For example, a menu item selection bar 210 (or highlighter) can be moved up or down menu 206 by rotating the wheel 16. The force detents can be output on wheel 16 to correspond with the spacing of menu items 208. Thus, the selection of a menu item is made easier from the use of detent forces, which substantially reduces the tendency of the user to overshoot a menu item when moving a cursor down the list of menu items. Furthermore, since the force detents are programmable, the user or software developer can set a rotational distance between detents a particular preference, and can also set the magnitude of detent forces, e.g. for the “depth” of the detent which controls how easily the user may move the wheel past or out of a detent.
Detent forces can similarly be used for other GUI or application program features. For example, the spacing of objects on a document can be synchronized with force detents. As the document is scrolled using wheel 15, each time a particular object is scrolled past a predetermined location in a window, a force detent can be output. For example the spacing of lines 214 of text in a text document 212 can be synchronized with force detents so that if these text lines are scrolled by the cursor or other location in the window using the wheel 16, a force detent is output on the wheel 16. Similarly, the grid spacing on a spreadsheet or the links on a web page can be associated with force detents. The force detents can be spaced to correspond with the spacing of the text or other features to provide the user with greater feedback concerning the graphical features. Thus, a text document having single-spaced lines would cause force detents to be output in quick succession as the document is scrolled, while a text document having double-spaced lines would cause force detents to be output twice the rotational distance apart as the single spaced document. In other embodiments in which the wheel 16 is used to position the cursor 204 (described below), force detents can be output on wheel 16 when the cursor is moved over a particular graphical object, such as a text word, an icon, or a menu item 208. The flexibility of characterizing the computer-controlled actutator force detents makes these detents far more helpful to a user than the static mechanical detents provided in mouse wheels of the prior art.
A different force sensation which can he output on wheel 16 is a spring force or spring return force. Similarly to the knob 54 described with reference to FIG. 3 a, the spring return force resists rotational motion of the wheel away from a “rest position”, where the magnitude of the spring force is proportional to the distance the wheel is rotated away from the rest position. This force can cause the wheel to spring back to its rest position when the user releases the wheel. A host command such as WHEEL_SPRING (state, stiffness) can be sent to the interface device 31 to characterize the spring return force, where the state (“ON” or “OFF”) turns the spring force on or off and the stiffness indicates the magnitude of spring force output on the wheel. Also, additional parameters to characterize the spring can be included in the command, such as +k and −k (spring constant and direction), dB (deadband area around designated position in which no forces are applied), and +Sat, −Sat (saturation level over which the magnitude is not increased).
Such a spring force can be useful, for example, for isometric scrolling of a document or view in GUI 200. Isometric scrolling allows the user to exert pressure to control the direction and/or speed of scrolling or other rate control tasks. Isometric scrolling can be approximated through the use of a spring force, where the user exerts a force on the wheel 16 to rotate the wheel, but the spring force resists such a user force. The speed of scrolling is based on the distance of compression of the simulated spring. For example, the further the user pushes the wheel against the spring force, the faster a document will scroll. When the user releases the wheel, the actuators move the wheel back to its rest position (or the wheel is left in its current position) and the document stops scrolling. Alternatively, the user might wish to set preferences so that the document continues to scroll even when the wheel is released, where the activation of a different command or control stops the scrolling. In a different embodiment, the distance of a scrolling window or view can be based on the distance of compression of the simulated spring in a position control paradigm. For example, a document or a first-person view in a game can scroll based directly on the amount of rotation of the wheel against the spring force; when the user releases the wheel, the spring force moves both the wheel and the document or view back to the rest position. In a different embodiment, a spring return force can be used on wheel 16 when the wheel is used to control thrust or velocity of a simulated vehicle or character in a game. Or, the spring return force can be used in conjunction with zooming or panning functions in a GUI, game, or other graphical environment.
Another force sensation that can be used with wheel 16 is a jolt or pop force sensation. For example, a jolt can be command with a command such as WHEEL_JOLT(magnitude, duration), which characterizes the magnitude of the jolt force and its duration. Such jolts can be used to indicate to the user that designated objects have scrolled past a particular location on the screen. For example, each time a page break in a text document scrolls by the cursor 204 or scrolls past the bottom of the displayed window, a jolt can be output on wheel 16. Other objects such as web page links, images, etc. can also be associated with jolts. A jolt differs from a detent in that a jolt is time-based rather than spatially based; the jolt is output irrespective of the position of the wheel 16, and does not attract or repel the wheel from a particular rotational position.
A different force sensation that can be output on wheel 16 is a vibration. Like the jolt force, this type of force “effect” is time based, not based on the rotational position of the wheel. The vibration force can be commanded with a command such as WHEEL_VIBRATION (Frequency, Waveform, Magnitude) to characterize the vibration force, where “Waveform” can be a sine wave, square wave, triangle wave, or other-shaped wave. The vibration can be associated with particular graphical objects displayed on the screen, or be output based on events that occur in a host application. For example, a vibration can be output on wheel 16 when a warning or alert message is given, such as when the user receives new mail or when an error in a program occurs.
Other force sensations that can be output on wheel 16 are inertia, friction, and/or damping force. An inertia force is based on a simulated mass of an object, where the larger the mass, the greater the force resisting motion of the object. For example, a document can be assigned a simulated mass based on a characteristic of the document, such as the file size of the document, the font used in the document, etc. A document having a larger mass has a greater inertia force associated with it, so that the wheel 16 is more difficult to rotate when scrolling a large document as compared to scrolling a smaller document. The user can perceive the force on the wheel 16 and readily discern the size of the scrolled document. A friction force depends on a predefined coefficient of friction which causes a drag force on the user manipulandum. A damping force sensation is based, on the velocity of an object, where the greater the velocity, the greater the damping force. This force feels like resistance to motion through a viscous liquid. The faster wheel 16 is rotated, the greater the damping force on the wheel. This can be used, for example, to provide areas of a document where scrolling is desired to be slower or controlled to a more fine degree, or to alert the user of a particular portion of the document as it scrolls by.
Another use for wheel 16 is for “coupled control.” Coupled control refers to the position of cursor 204 on screen 20 being controlled both by the position of mouse 12 or 32 in its planar workspace as well as by the rotational position of wheel 16 about its axis. In one embodiment, the Y (vertical) screen coordinate of the cursor 204 is determined by the Y position of the mouse added to the Y position of the wheel 16, as summarized by the following:
Y CURSOR =Y MOUSE +Y WHEEL
Thus, the user can move thecursor 204 in a Y-direction on the screen by moving mouse 12 or 32 in a Y-direction in its workspace, and/or by rotating wheel 16 (where wheel 16 is preferably oriented in the Y-direction so that it rotates about an axis parallel to the plane of mouse movement and oriented in the X-direction). If the user wishes to move the cursor 204 only with the wheel 16, the mouse 12 or 32 can be kept stationary within its workspace; if the user wishes to move the cursor only with the mouse, the wheel is not moved. Furthermore, if a wheel is provided on mouse 12 or 32 for horizontal (X-direction) motion, the X position of the cursor 204 can be determined from both the X-direction of the mouse 12 or 32 in its workspace and by the rotational position of the X-oriented wheel. In other embodiments, the position control of cursor 204 by mouse 12 or 32 can be disabled at selected times to allow wheel 16 to have exlusive control of the cursor 204 position. For example, when a pull down menu 206 is selected by the user, the Y position of the mouse 12 or 32 can be ignored to allow the wheel 16 to exclusively control the Y position of the cursor 204 as the user is selecting a menu item 208 in the menu 206. One analogy to such dual mouse-wheel cursor control is a “reel metaphor”, in which the wheel can be considered a reel of rigid string (or controlling the length of a telescoping pole), where the reel is positioned on the mouse 12 or 32 and the cursor 204 is attached to the end of the string (or pole). Assuming the string is fully wound on the reel (or pole is fully contracted), the mouse controls the position of the cursor directly. When the wheel is moved and the string unwound (or pole is expanded), the cursor has additional movement beyond the motion controlled by the mouse. The user can push or pull on graphical objects by winding or unwinding the reel, and feel the appropriate forces from such actions through the wheel 16.
Y CURSOR =Y MOUSE +Y WHEEL
Thus, the user can move the
When force feedback wheel 16 is used to control the position of cursor 204, force sensations can provide enhanced control and tactile information to the user. For example, when the user moves the cursor 204 against a graphical object designated as a wall or other obstruction using wheel 16, a wall force can be output on the wheel 16 to resist further motion of the wheel and cursor into the wall. One way to implement such a wall is to output a spring force on the wheel, calculated as FY=KΔYCURSOR, where K is a spring constant and ΔYCURSOR is the distance of penetration of the cursor into the wall surface along the Y axis resulting from the sum of both wheel Y motion and mouse Y motion. To make the wall seem like it is impassable, the cursor is preferably continued to be displayed against the wall surface even as the wheel 16 is rotated to penetrate the wall spring force; such a breaking of the mapping between cursor and physical manipulandum in a position control paradigm is explained in greater detail in copending patent application Ser. No. 08/664,086, incorporated by reference herein.
Other force sensations can also be output on wheel 16 when the wheel controls the position of the cursor. For example, a texture force can be output on the wheel when the cursor is moved over a textured region or object. Examples of textures include a bumpy surface and a slick icy surface. Alternatively, spring forces, damping forces, inertia forces, frictional forces, barrier forces, ramping effect forces, or dynamic effects as described in copending patent application Ser. No. 08/846,011, incorporated by reference herein, can all be output on the wheel 16 and associated with the motion of the cursor and/or the interaction of the cursor with other graphical objects in GUI 200. Also, one or more of these forces can be combined with one or more other forces to create compound force sensations on wheel 16.
Furthermore, force profiles may be used to control the forces on wheel 16. Force profiles are sequences of individual force magnitudes that have been stored in a storage device such as local memory 92, host RAM 74, a hard disk drive, floppy disk, CD-R or CD Reewritable, DVD, or other storage device. The force magnitudes can be output by microprocessor 90 to the actuator 112 in sequence to apply a particular force sensation characterized by the force profile. The microprocessor can output the force profile magnitudes (or a subset thereof) at different rates or with different offsets from the stored magnitudes as commanded by host computer 18 and/or as a function of characteristics, such as wheel velocity/acceleration/current position, time, etc.
The force feedback functionality of wheel 16 described above can also be provided in different modes of the interface device 12 or 31, where the user, microprocessor 90, and/or host computer 18 can control which mode is currently active. Examples of two preferred modes are isotonic mode and isometric mode. Example of similar isometric and isotonic modes for mouse 12 or 32 are also described in copending patent application Ser. No. 08/756,745.
Isotonic mode is a position control mode for wheel 16, where the forces output on the wheel are synchronized or associated with the position of the wheel, and where the position of the wheel, when changed, incrementally changes the position or state of a graphical object provided by the host computer. For example, when a position control scrolling is provided by wheel 16, a document is scrolled by an amount corresponding to the amount the wheel is rotated. Similarly, the coupled control described above is a position control function, since a cursor is incrementally moved based on incremental rotations of the wheel 16.
Force sensations that are appropriate for such a position control wheel mode include force detents. For example, as explained above, force detents are output on the wheel depending on when text lines or spread sheet cells are scrolled by, where each detent is incrementally output as a document is scrolled, zoomed, panned, etc. Damping, friction, and inertia forces are also position control mode forces, where the force depends on the velocity (which is position based) or the position of the wheel and the cursor, document, or other object which is directly controlled by the wheel. Obstruction forces which represent hard stops to the wheel can be used in position control mode to represent the end of travel of the wheel; for example, when the end of a document is reached during a scrolling function, a hard stop force can be output to indicate this condition and resist further scrolling. Alternatively, a wall obstruction force on wheel 16 indicates that a wheel-controlled cursor has hit a wall. Texture forces are also appropriate in the position control mode, where the texture force is dependent on the position of the wheel; for example, in the coupled control embodiment where the wheel influences the position of the cursor, texture bump forces corresponding to bumps on the screen can be output on the wheel as the cursor moves over the bumps.
Isometric mode (or “pressure” mode) is a rate control mode for wheel 16. The distance of the wheel from a particular position controls a rate of a computer function, such as the rate of scrolling, zooming or panning, the rate of fast-forwarding/rewinding a computer-displayed movie, the rate of travel of a simulated vehicle, the rate of change for frequencies to increase when selecting radio stations, etc. An appropriate force sensation to use for such an isometric mode is the spring return force, which biases the wheel to center itself back at a starting or center position. The user feels the spring force get stronger the more the wheel is rotated from the center position, and this accordingly controls the rate of the computer function, e.g. the speed of scrolling. Detent forces can also be used in isometric mode, e.g. in conjunction with a spring return force. For example, the detents do not indicate an increment of wheel motion, but indicate the rate settings, making their selection easier for the user. Thus, a user might program three favored speed settings for the wheel in isometric mode, where the settings are indicated as force detents when the wheel is rotated to those speed settings, thereby assisting the user in finding and maintaining the wheel at those settings. In addition, jolt, vibration, or other time based forces can also be output on wheel 16 in an isometric mode, for example, to indicate events such as a page break scrolling by or the status of a simulated engine in a controlled simulated vehicle upon reaching a certain velocity.
The isotonic and/or isometric modes can be selected in a variety of ways. For example, when a button 15 is held down by the user, an isometric mode can be entered at the current location of the cursor or current displayed region of a document. When the button is released, isotonic mode can be entered. Alternatively, isometric mode can be activated when the cursor moves against an “isometric surface”, as described below. Other modes can also be selected using buttons 15 or other input devices. For example, when a “cursor mode” of wheel 16 is selected, the wheel 16 can control cursor movement as explained above. When the cursor mode is inactive, the wheel 16 can control scrolling, zooming, or panning of a document/view, or other functions. Force feedback output on the wheel 16 is appropriate to the currently-selected mode. The modes can be selected by host computer 18, microprocessor 90, or the user in other ways in other embodiments.
Other modes can also be implemented for wheel 16. One type of mode is a “force functionality mode.” For example, a thumb button (not shown) or other button 15 can toggle the force functionality mode in which designated graphical objects or regions displayed on screen 20 have other functions enabled by force feedback. A graphical object, such as a window or icon in a GUI, can act differently for selection of functions of the host computer or program, and/or for the forces associated with the object/region, depending on whether the force functionality mode is active. For example, when the mode is not active, the cursor can be moved normally through the border or edge of a window, with no force sensations associated with the movement over the window. However, when the force mode is active (such as by pressing or holding a particular button 15), a spring force will be output on mouse 32 and/or on wheel 16 opposing the movement of the cursor through the window border, i.e. the window border becomes an “isometric surface.” This force is used as for “pressure scrolling” or as a “scroll surface”, where the amount of penetration of the mouse against the spring force controls the speed of scrolling, zooming, etc. of a document displayed in that window (similar to isometric mode described above). In a “pressure clicking” or “click surface” embodiment, if the cursor is moved against the border of an icon or other object and the force functionality mode is active, a force will be output resisting motion of the cursor into the icon; when the mouse 32 and/or wheel 16 moves against the force a threshold distance, the icon is selected as if the cursor had clicked or double-clicked on the icon. Such an embodiment is described in co-pending patent application Ser. No. 08/879,296, filed Jun. 18, 1997, incorporated by reference herein. These types of features are especially applicable to wheel 16 when in the coupled cursor control embodiment described above. In other embodiments, other input devices besides or in addition to buttons 15 can control the force functionality mode. Or, different input devices can control different modes.
While this invention has been described in terms of several preferred embodiments, it is contemplated that alterations, permutations and equivalents thereof will become apparent to those skilled in the art upon a reading of the specification and study of the drawings. For example, many types of actuators, sensors, and mechanisms can be used to sense and apply forces on wheel 16. In addition, the wheel 16 itself can be implemented in a variety of ways, as a dial, cylinder, knob, or other shape; for example, wheel 16 can be provided as a trackball on mouse 12 or 32 and thus provide input in both X- and Y-directions to host computer 18. Also, a great variety of forces can be output on wheel 16, based on scrolling, panning, zooming, or cursor motion functions. Furthermore, certain terminology has been used for the purposes of descriptive clarity, and not to limit the present invention. It is therefore intended that the following appended claims include all such alterations, permutations, and equivalents as fall within the true spirit and scope of the present invention.
Claims (25)
1. An apparatus, comprising:
a rotatable member being rotatable about an axis;
a sensor coupled to said rotatable member, said sensor configured to send data associated with a rotation of said rotatable member to an electronic device having a plurality of selectively actuated functions, each of the selectively actuated functions being selectable based on a displacement of said rotatable member, the plurality of selectively actuated functions including at least one of controlling a volume for audio output, selecting at least one of a received broadcast station and a channel from multiple stations and channels, and scrolling through a list of possible selections; and
an actuator coupled to said rotatable member, said actuator configured to output a haptic force sensation to said rotatable member, the haptic force sensation being associated with a selected one of the plurality of functions, the haptic force sensation associated with selecting at least one of the broadcast station and the channel including at least one of a detent sensation and a jolt sensation.
2. The apparatus of claim 1 , wherein the detent sensation and the jolt sensation are associated with selection of particular stations and channels.
3. The apparatus of claim 1 , wherein the haptic force sensation associated with scrolling through a list of possible selections includes a spring return sensation.
4. The apparatus of claim 3 , wherein the scrolling is associated with an isometric control paradigm.
5. An apparatus, comprising:
a rotatable member being rotatable about an axis;
a sensor coupled to said rotatable member, said sensor configured to send data associated with a rotation of said rotatable member to an electronic device having a plurality of selectively actuated functions, each of the selectively actuated functions being selectable based on a displacement of said rotatable member; and
an actuator coupled to said rotatable member, said actuator configured to output a haptic force sensation to said rotatable member, the haptic force sensation being associated with a selected one of the plurality of functions, the actuator being configured to be responsive to isometric and isotonic interface paradigms.
6. An apparatus, comprising:
a rotatable member being rotatable about an axis;
a sensor coupled to said rotatable member, said sensor configured to send data associated with a rotation of said rotatable member to an electronic device having a plurality of selectively actuated functions, each of the selectively actuated functions being selectable based on a displacement of said rotatable member;
an actuator coupled to said rotatable member, said actuator configured to output a haptic force sensation to said rotatable member, the haptic force sensation being associated with a selected one of the plurality of functions; and
a controller, the controller configured to assign at least one of a plurality of different levels of simulated inertia to said rotatable member, the assigned level of inertia based on the selected one of the plurality of selectively actuated functions.
7. An apparatus comprising:
a rotatable member being rotatable about an axis;
a sensor coupled to said rotatable member, said sensor configured to send data associated with a rotation of said rotatable member to an electronic device having a plurality of selectively actuated functions, each of the selectively actuated functions being selectable based on a displacement of said rotatable member;
an actuator coupled to said rotatable member, said actuator configured to output a haptic force sensation to said rotatable member, the haptic force sensation being associated with a selected one of the plurality of functions; and
a controller, the controller configured to selectively associate detents from a plurality of detents with said rotatable member, the selectively associated detents being associated with the selected one of the plurality of selectively actuated functions.
8. An apparatus, comprising:
a rotatable member being rotatable about an axis;
a sensor coupled to said rotatable member, said sensor configured to send data associated with a rotation of said rotatable member to an electronic device having a plurality of selectively actuated functions, each of the selectively actuated functions being selectable based on a displacement of said rotatable member;
an actuator coupled to said rotatable member, said actuator configured to output a haptic force sensation to said rotatable member, the haptic force sensation being associated with a selected one of the plurality of functions; and
a controller, the controller configured to associate hard stops at predetermined locations within a range of travel of said rotatable member, the predetermined locations being associated with the selected one of the plurality of selectively actuated functions.
9. An apparatus, comprising:
a rotatable member being rotatable about an axis;
a sensor coupled to said rotatable member, said sensor configured to send data associated with a rotation of said rotatable member to an electronic device having a plurality of selectively actuated functions, each of the selectively actuated functions being selectable based on a displacement of said rotatable member;
an actuator coupled to said rotatable member, said actuator configured to output a haptic force sensation to said rotatable member, the haptic force sensation being associated with a selected one of the plurality of functions; and
a controller, the controller configured to associate different levels of simulated damping with said rotatable member, the associated level of simulated damping being associated with the selected one of the plurality of selectively actuated functions.
10. An apparatus, comprising:
a rotatable member being rotatable about an axis;
a sensor coupled to said rotatable member, said sensor configured to send data associated with a rotation of said rotatable member to an electronic device having a plurality of selectively actuated functions, each of the selectively actuated functions being selectable based on a displacement of said rotatable member;
an actuator coupled to said rotatable member, said actuator configured to output a haptic force sensation to said rotatable member, the haptic force sensation being associated with a selected one of the plurality of functions; and
a controller, the controller configured to associate different levels of simulated friction to said rotatable member, the associated level of simulated friction being associated with the selected one of the plurality of selectively actuated functions.
11. A method, comprising:
sensing of a position of a rotatable member of an apparatus, the rotatable member being rotatable about an axis, the apparatus configured to send a position signal to at least one electronic device, the position signal associated with the position of the rotatable member;
outputting a haptic force sensation to the rotatable member via an actuator coupled to the rotatable member, the haptic force sensation associated with a selected one of a plurality of functions associated with the electronic device, the outputting the haptic force sensation associated with a selected one of the plurality of functions includes outputting the haptic force sensation associated with at least one of controlling a volume for audio output, selecting at least one of a received broadcast station and a channel from multiple stations and channels, and scrolling through a list of selections, the outputting the haptic force sensation associated with scrolling through a list of selections includes outputting a spring return sensation; and
sensing a displacement of the rotatable member to select the one of the plurality of functions.
12. The method of claim 11 , wherein the outputting a spring return sensation is associated with an isometric control paradigm.
13. A method, comprising:
sensing of a position of a rotatable member of an apparatus, the rotatable member being rotatable about an axis, the apparatus configured to send a position signal to at least one electronic device, the position signal associated with the position of the rotatable member;
outputting a haptic force sensation to the rotatable member via an actuator coupled to the rotatable member, the haptic force sensation associated with a selected one of a plurality of functions associated with the electronic device;
sensing a displacement of the rotatable member to select the one of the plurality of functions; and
selecting a mode from one of an isotonic mode and an isometric mode of the rotatable member, the haptic force sensation output to the rotatable member being different depending on the selected mode.
14. A method, comprising:
sensing of a position of a rotatable member of an apparatus, the rotatable member being rotatable about an axis, the apparatus configured to send a position signal to at least one electronic device, the position signal associated with the position of the rotatable member;
outputting a haptic force sensation to the rotatable member via an actuator coupled to the rotatable member, the haptic force sensation associated with a selected one of a plurality of functions associated with the electronic device;
sensing a displacement of the rotatable member to select the one of the plurality of functions; and
associating detents with varied rotary spacing to the rotatable member, the associated detents being associated with the selected one of the plurality of functions.
15. A method, comprising:
sensing of a position of a rotatable member of an apparatus, the rotatable member being rotatable about an axis, the apparatus configured to send a position signal to at least one electronic device, the position signal associated with the position of the rotatable member;
outputting a haptic force sensation to the rotatable member via an actuator coupled to the rotatable member, the haptic force sensation associated with a selected one of a plurality of functions associated with the electronic device;
sensing a displacement of the rotatable member to select the one of the plurality of functions; and
associating hard stops at different locations within a range of travel of the rotatable member, the locations associated with the selected one of the plurality of functions.
16. A method, comprising:
sensing of a position of a rotatable member of an apparatus, the rotatable member being rotatable about an axis, the apparatus configured to send a position signal to at least one electronic device, the position signal associated with the position of the rotatable member;
outputting a haptic force sensation to the rotatable member via an actuator coupled to the rotatable member, the haptic force sensation associated with a selected one of a plurality of functions associated with the electronic device;
sensing a displacement of the rotatable member to select the one of the plurality of functions; and
associating different levels of simulated damping to the rotatable member, the associated level of simulated damping associated with the selected one of the plurality of functions.
17. A method, comprising:
sensing of a position of a rotatable member of an apparatus, the rotatable member being rotatable about an axis, the apparatus configured to send a position signal to at least one electronic device, the position signal associated with the position of the rotatable member;
outputting a haptic force sensation to the rotatable member via an actuator coupled to the rotatable member, the haptic force sensation associated with a selected one of a plurality of functions associated with the electronic device, the haptic force sensation being associated with an event occurring in a graphical environment implemented by the at least one electronic device; and
sensing a displacement of the rotatable member to select the one of the plurality of functions.
18. A handheld remote control apparatus, comprising:
a rotatable member being rotatable about an axis;
a sensor configured to send data associated with a rotation of the rotatable member to an electronic device having a plurality of selectively actuated functions, at least one of the selectively actuated functions includes selecting at least one of a broadcast station and a channel from multiple stations and channels; and
an actuator configured to output a haptic force sensation to said rotatable member, said actuator being configured to associate the haptic force sensation with the selected one of the plurality of functions, the haptic force sensation including at least one of a detent and a jolt, the at least one of the detent and the jolt being spaced apart in the rotation of the rotatable member, the at least one of the detent and the jolt being associated with the selection of the at least one of the broadcast station and the channel.
19. The apparatus of claim 18 , wherein said actuator is a passive actuator.
20. The apparatus of claim 18 , wherein said actuator is an active actuator.
21. The apparatus of claim 18 , wherein the sensor is configured to provide the data to the electronic device via wireless transmission using an electromagnetic beam.
22. The apparatus of claim 18 , further comprising a processor configured to communicate with the actuator and configured to associate the haptic force sensation with the selected one of the plurality of functions, said processor configured to include selectable modes, the selectable modes including a selectable isotonic mode and a selectable isometric mode for said rotatable member, the haptic force sensation output to said rotatable member being different depending on which of the modes is selected.
23. The apparatus of claim 18 , wherein said rotatable member is configured to be depressed, said rotatable member configured to select the selected one of the plurality of functions based on the depression.
24. A handheld remote control apparatus, comprising:
a rotatable member being rotatable about an axis;
a sensor configured to send data associated with a rotation of the rotatable member to an electronic device, the electronic device having a plurality of selectively actuated functions, at least one of the selectively actuated functions includes scrolling through a list of selections; and
an actuator configured to output a haptic force sensation to said rotatable member, said actuator being configured to associate the haptic force sensation with the selected one of the plurality of functions, the haptic force sensation including an isometric control paradigm having a spring return sensation.
25. A handheld remote control apparatus, comprising:
a rotatable member being rotatable about an axis;
a sensor configured to send data associated with a rotation of the rotatable member to an electronic device, the electronic device having a plurality of selectively actuated functions; and
an actuator configured to output a haptic force sensation to said rotatable member, said actuator being configured to associate the haptic force sensation with the selected one of the plurality of functions;
a processor configured to associate force detents having varied rotary spacing with said rotatable member by controlling said actuator, said associated rotary spacing being associated with the selected one of the plurality of functions.
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| Application Number | Priority Date | Filing Date | Title |
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| US09/678,110 US6956558B1 (en) | 1998-03-26 | 2000-10-02 | Rotary force feedback wheels for remote control devices |
| US09/783,936 US6636197B1 (en) | 1996-11-26 | 2001-02-14 | Haptic feedback effects for control, knobs and other interface devices |
| US10/641,243 US7327348B2 (en) | 1996-11-26 | 2003-08-14 | Haptic feedback effects for control knobs and other interface devices |
| US11/252,505 US7564444B2 (en) | 1998-03-26 | 2005-10-17 | System and method of applying force feedback to a manipulandum wheel utilized with a graphical user interface |
| US11/927,273 US20080055241A1 (en) | 1998-03-26 | 2007-10-29 | Systems and Methods for Haptic Feedback Effects for Control Knobs |
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| US09/049,155 US6128006A (en) | 1998-03-26 | 1998-03-26 | Force feedback mouse wheel and other control wheels |
| US09/678,110 US6956558B1 (en) | 1998-03-26 | 2000-10-02 | Rotary force feedback wheels for remote control devices |
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| US09/160,985 Continuation US6232891B1 (en) | 1995-12-13 | 1998-09-24 | Force feedback interface device having isometric functionality |
| US09/179,382 Continuation US6154201A (en) | 1996-11-26 | 1998-10-26 | Control knob with multiple degrees of freedom and force feedback |
| US09/680,408 Continuation-In-Part US6686911B1 (en) | 1996-11-26 | 2000-10-02 | Control knob with control modes and force feedback |
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| US11/252,505 Continuation US7564444B2 (en) | 1998-03-26 | 2005-10-17 | System and method of applying force feedback to a manipulandum wheel utilized with a graphical user interface |
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| US11/252,505 Expired - Fee Related US7564444B2 (en) | 1998-03-26 | 2005-10-17 | System and method of applying force feedback to a manipulandum wheel utilized with a graphical user interface |
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| US11/252,505 Expired - Fee Related US7564444B2 (en) | 1998-03-26 | 2005-10-17 | System and method of applying force feedback to a manipulandum wheel utilized with a graphical user interface |
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